[Gllug] monster robot

[Luke Kenneth Casson Leighton]

On Sat, Jan 26, 2002 at 07:17:10PM +0000, John Hearns wrote:
> 
> 
> Luke Kenneth Casson Leighton wrote:
> 
> > dear glluggers,
> >
> >
> >
> > i met a few of you interested in robots / embedded boards -
> > [btw i was pressing the wrong reset button on the
> > axis developer board :)]
> 
> I've always thought that Linus hackers in the UK should form a Scrapheap
> Challenge
> team.
> I think Alan Cox is a big fan!
> 
> (BTW, anyone been watching the challenge program about restoring
> a stem traction engine? This week it is about restoring a tank.
> Should be a great program).
> 
> Anyway, a robot might be fun.
> 
> Some random thoughts:
> 
> a) there is already someone on the list involved in a robotics project
>     in London. Please speak up!

 yes, i spoke to them a few months back [can't remember name!]

 he was interested in [re?]building a walker robot - something
 with a bit of clout [but probably nowhere near 200kg!].

 i'd suggested RC control servos but he mentioned that these have
 already been tried, and found that the potentiometers tend to
 wear out after about 10,000 swipes, which in RC terms is a
 long time but in walking robot terms it's pretty short-lived.


> b)  you would probably be much better having this done as an undergrad
>      project in a university, or by soem college students. They'll have
> access
>      to machine tools etc. And you get a bunch of enthusiastic
> youngsters too.

 what, there's no enthusiastic youngsters on the gllug list???

 i've found someone who is interested in doing the machining,
 and am also looking for a second source closer to london (!).
 cambridge.


> c) have you considered what happens if there's a bug in your code
>     and this thing rips your leg off ;-)
> 
 
 stand _well_ back.  let it squash fluffy bunny rabbits, instead.

 serious answer: yes, i have: placing it on, or bolting it to,
 a special frame / stand (required for robotwars competitions
 anyway) that can also help with lifting the damn thing.

 200 kg basically means get 5 people to lift it - one on each
 leg, when it's switched off, and clamps placed around the legs
 to stop them moving.

 i may have to install some electrically-controlled brakes...



 as if the building isn't going to be fun enough on its own,
 there's the software to write.

 i'll be starting off with a simulation in OpenGL, which will
 have to include rotational motion etc.  i'll use that to
 predict the location and rotation of the _real_ robot, in
 real-time, and where to put its legs to

 a) stop it getting damaged

 b) recover from a spin

 c) knock the stuffing out of other robots

 d) control three different walking modes

 etc etc.

 not a big project, then :)

 lukes


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